Changeset 654

Timestamp:

10/12/09 19:38:57 (15 years ago)

Author:

smidl

Message:

PMSM compiles again

Location:

applications/pmsm

Files:

• CMakeLists.txt (modified) (2 diffs)
• cfg/mpf_test.cfg (modified) (1 diff)
• cfg/sim.cfg (modified) (1 diff)
• filters.h (added)
• pmsm.h (modified) (2 diffs)
• pmsmDS.h (modified) (10 diffs)
• pmsm_estim.cpp (modified) (3 diffs)
• testbidiff.cpp (modified) (1 diff)

applications/pmsm/CMakeLists.txt

@@ -1 @@
-# Make sure the compiler can find include files from our Bdm library.
+# Matlab toolbox of functions from BDM
+
+cmake_minimum_required(VERSION 2.6)
+PROJECT(bdmtoolbox)
+
+# Link it to BDM
+SET(BDM_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../../library")
+SET(CMAKE_MODULE_PATH "${BDM_SOURCE_DIR}/system")
+
+# Load BDM environment
+INCLUDE(SetBdmEnv)
+
 include_directories (${BDM_SOURCE_DIR}/bdm)
-
-# Make sure the linker can find the bdm library once it is built.
-link_directories (${BDM_BINARY_DIR}/bdm)
+link_directories (${BDM_SOURCE_DIR}/bdm)
 
 # no simulator needed...
@@ -24 +33 @@
 #EXEC (sim_var pmsmsim)
 
-add_subdirectory (TR2245)
+#add_subdirectory (TR2245)

applications/pmsm/cfg/mpf_test.cfg

@@ -2 +2 @@
 
 experiment={
-        ndat = 9000;
+        ndat = 90000;
 };
 
-system= {
-        type = "stateDS";
-        IM = {type="mprod";
-        mpdfs=(
-                   {type="mgnorm"; 
-                   g={type="pmsmIM"; 
-                           params : {type = "external";filename = "cfg/zcu.cfg";path = "pmsm107";};
-                   };
-                   dR=
-                   }} 
-                  );
+system= "system@cfg/sim.cfg";
+
+estimator = ( 
+        {class="MPFpmsm"; 
+        params = "pmsm107@cfg/zcu.cfg";
+        dQ=[0.17, 0.17, 0.00004, 1e-9];
+        dR=[0.06, 0.06];
+        prior={class="euni";high=[4];low=[-4];};
+        //connect
+        drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");};
+        rv = {class="RV"; names=("e_ia","e_ib","e_om","e_th");};
+        options = "logbounds";
+        n=20;
         }
-        tstep = 1.0; // steps for profile in [s]
-        profile = [1, 5, 0, -3, 8];
-        opt = "u";
-};
-
-estimator = (
-                         {type="EKF";
-                         IM = {type="pmsmIM";
-                                params : {type = "external";filename = "cfg/zcu.cfg";path = "pmsm107";};
-                         };
-                         OM = {type="pmsmOM";};
-                         dQ=[62., 66., 44., 0.03];
-                         dR=[100, 100];
-                         //connect
-                         drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];};
-                         rv = {type="rv"; names=["EKF"]; sizes=[4];};
-                         }
 );
         
 logger= {
-        type="dirfilelog";
+        class="dirfilelog";
         maxlen = 1000;
-        dirname = "exp/sim";
+        dirname = "kst/mpf_test";
 };

applications/pmsm/cfg/sim.cfg

@@ -6 +6 @@
 
 system= {
-        type = "pmsmDS";
-        params : {type = "external";filename = "cfg/zcu.cfg";path = "pmsm107";};
+        class = "pmsmDS";
+        params = "pmsm107@zcu.cfg";
         tstep = 1.0; // steps for profile in [s]
-        profile = [1, 5, 0, -3, 8];
+        profileW = [1, 5, 0, -3, 0, 0, 0, 1, 0, 0 ];
         opt = "u";
 };
 
 estimator = (
-                         {type="EKF";
-                         IM = {type="pmsmIM";
-                                params : {type = "external";filename = "cfg/zcu.cfg";path = "pmsm107";};
-                         };
-                         OM = {type="pmsmOM";};
-                         dQ=[62., 66., 44., 0.03];
-                         dR=[100, 100];
-                         //connect
-                         drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
-                         //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
-                         rv = {type="rv"; names=["EKF"]; sizes=[4];};
-                         }
+         {class="EKFfull";
+                IM = {class="IMpmsm";
+                        params = "pmsm107@cfg/zcu.cfg";
+                };
+                OM = {class="OMpmsm";};
+                dQ=[0.17, 0.17, 0.0000004, 1e-11];
+                dR=[0.0006, 0.0006];
+                //connect
+                drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");};  // observed u
+                //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
+                rv = {class="RV"; names=("EKF"); sizes=[4];};
+                options = "logbounds";
+         }                                       
 );
         
 logger= {
-        type="dirfilelog";
+        class="dirfilelog";
         maxlen = 1000;
-        dirname = "exp/sim";
+        dirname = "kst/sim";
 };

applications/pmsm/pmsm.h

@@ -2 +2 @@
 #define PMSM_H
 
-#include <stat/functions.h>
-#include "user_info.h"
+#include <math/functions.h>
+#include "base/user_info.h"
 
 /*! \defgroup PMSM 
@@ -98 +98 @@
         void from_setting( const Setting &root )
         {       
-                UI::SettingResolver params_exp(root["params"]);
-                const Setting& params=params_exp.result;
-
-                set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \
+
+                const SettingResolver& params_b=root["params"];
+                const Setting& params=params_b.result;
+                
+                set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \
                          params["kp"], params["p"], params["J"], 0.0);
-
-/*              set_parameters ( root["params"]["Rs"], root["params"]["Ls"], 125e-6, root["params"]["Fmag"], \
-                        root["params"]["kp"],  root["params"]["p"], root["params"]["J"], 0.0 );*/
         };
 

applications/pmsm/pmsmDS.h

@@ -11 +11 @@
 */
 
-#include <stat/loggers.h>
+#include <base/loggers.h>
 #include <estim/kalman.h>
 #include "simulator_zdenek/simulator.h"
@@ -71 +71 @@
             ind++;
             // check omega profile and set dW
-            if ( ind<profileWw.length() )
+                        if ( ind <2 && profileWw.length() ==1 )
+                        {
+                                Ww=profileWw ( 0 );
+                                dW=0.0;
+                        }
+                        if ( ind<profileWw.length() )
             {
-                //linear increase
-                if ( profileWw.length() ==1 )
-                {
-                    Ww=profileWw ( 0 );
-                    dW=0.0;
-                }
-                else
-                {
                     dW = profileWw ( ind )-profileWw ( ind-1 );
                     dW *=125e-6/dt_prof;
-                }
             }
             else
@@ -167 +163 @@
     void from_setting( const Setting &root )
     {
-                UI::SettingResolver params_exp(root["params"]);
-                const Setting& params=params_exp.result;
-
+                const SettingResolver& params_l(root["params"]);
+                const Setting &params = params_l.result;
         set_parameters ( params["Rs"], params["Ls"], params["Fmag"], \
                          params["Bf"], params["p"], params["kp"], \
@@ -214 +209 @@
     {
         static vec umin(2);
-        vec u(2);
-        //assume we know state exactly:
+                vec u(2);
+                vec &mu = est->_mu();
+                //assume we know state exactly:
         vec true_state=vec(x,4); // read from pmsm
-        E.set_mu(true_state);
         mu=true_state;
 
@@ -228 +223 @@
 
         //second derivative
-        IMpmsm2o* pf = dynamic_cast<IMpmsm2o*>(pfxu);
+        IMpmsm2o* pf = dynamic_cast<IMpmsm2o*>(pfxu.get());
         if (pf)
         {
@@ -254 +249 @@
     void from_setting( const Setting &root )
     {
-        diffbifn* IM = UI::build<diffbifn>(root, "IM");
-        diffbifn* OM = UI::build<diffbifn>(root, "OM");
+        shared_ptr<diffbifn> IM = UI::build<diffbifn>(root, "IM");
+        shared_ptr<diffbifn> OM = UI::build<diffbifn>(root, "OM");
 
         //parameters
@@ -289 +284 @@
 
         //connect
-        RV* drv = UI::build<RV>(root, "drv");
+        shared_ptr<RV> drv = UI::build<RV>(root, "drv");
         set_drv(*drv);
-        RV* rv = UI::build<RV>(root, "rv");
+        shared_ptr<RV> rv = UI::build<RV>(root, "rv");
         set_rv(*rv);
     }
@@ -317 +312 @@
         true_state(4)=x[8];
 
-        E.set_mu(true_state);
+        vec &mu = est->_mu();
         mu = true_state;
         //hack for ut
@@ -334 +329 @@
     void from_setting( const Setting &root )
     {
-        diffbifn* IM = UI::build<diffbifn>(root,"IM");
-        diffbifn* OM = UI::build<diffbifn>(root,"OM");
+        shared_ptr<diffbifn> IM = UI::build<diffbifn>(root,"IM");
+                shared_ptr<diffbifn> OM = UI::build<diffbifn>(root,"OM");
 
         //statistics
@@ -367 +362 @@
 
         //connect
-        RV* drv = UI::build<RV>(root, "drv");
+                shared_ptr<RV> drv = UI::build<RV>(root, "drv");
         set_drv(*drv);
-        RV* rv = UI::build<RV>(root, "rv");
+                shared_ptr<RV> rv = UI::build<RV>(root, "rv");
         set_rv(*rv);
     }

applications/pmsm/pmsm_estim.cpp

@@ -7 +7 @@
  */
 
-#include "user_info.h"
-#include "stat/loggers.h"
+#include "base/user_info.h"
+#include "base/loggers.h"
 #include "estim/kalman.h"
 #include "pmsmDS.h"
+#include "filters.h"
 
 
@@ -20 +21 @@
         UIFile F ( fname );
 
-        logger* L = UI::build <logger>( F, "logger" );
-        DS * pDS = UI::build<DS> ( F, "system" );
-        Array<BM*> Es;                  // array of estimators
+        shared_ptr<logger> L = UI::build <logger>( F, "logger" );
+        shared_ptr<DS>  pDS = UI::build<DS> ( F, "system" );
+        Array<shared_ptr<BM> > Es;                      // array of estimators
         UI::get( Es, F, "estimator" );
         int nE = Es.length();   //number of estimators
@@ -60 +61 @@
         L->finalize();
 
-        delete L;
-        delete pDS;
         for (int i=0; i<nE; i++){
                 delete Dls(i);
-                delete Es(i);
         }
         return 0;

applications/pmsm/testbidiff.cpp

@@ -1 +1 @@
 
-#include "../bdm/stat/libBM.h"
+#include <base/bdmbase.h>
 
 #include "pmsm.h"